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Issue with ros::Time when using /use_sim_time

asked 2019-07-09 16:05:37 -0600

JaFeKl gravatar image

updated 2019-07-09 16:06:35 -0600

Hello everyone,

I have the following issue that ros::Time::now()` always returns zero using the following minimum example.

#include <ros/ros.h>

int main(int argc, char **argv)
      ros::init(argc, argv, "force_test_trajectory_pub");     // create ROS node
      while(ros::ok())  {
            beginTime = ros::Time::now();
            ROS_INFO("Starting time %f", beginTime.toSec());

The following things are running propperly:

  • I first start roscore as usual
  • Then I set the parameter /use_sim_time to true
  • Then I run gazebo using rosrun gazebo_ros gazebo to get a clock published on /clock
  • Then I run the example above but which only outputs 0 even though /clock is constantly publishing

When I pause Gazebo, the while loop stops as well, which means synchronization is working in some way.

Do you have any suggestion how to fix this problem?

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Can you please update your question so that it includes a minimal reproducible example? That way we don't have to add code to get your example to work (as-is, it won't compile).

jayess gravatar image jayess  ( 2019-07-09 17:20:19 -0600 )edit

Also, how are you setting /use_sim_time to true? Please include all of the commands that you run instead of paraphrasing

jayess gravatar image jayess  ( 2019-07-09 17:30:47 -0600 )edit

1 Answer

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answered 2019-07-10 04:57:52 -0600

gvdhoorn gravatar image

I would suggest to add something of a sleep or ros::Rate in that while loop.

And a ros::spinOnce(): this is C++, subscriptions are only processed when the queues are spinned.

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Asked: 2019-07-09 16:05:37 -0600

Seen: 123 times

Last updated: Jul 09 '19